Launch-In-SITL.md

+## Setup workspace
+First, create a catkin workspace
+```shell
+mkdir -p ardupilot_ws/src
+cd ardupilot_ws
+catkin init
+cd src
+```
+Clone the reprository
+
+## Launch SITL Instance
+Then, launch a SITL instance:
+```shell
+sim_vehicle.py -v ArduCopter --console --map
+```
+
+Now you got an SITL instance launched with TCP and UDP access, you should have some line like:
+```shell
+"mavproxy.py" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" "--out" "127.0.0.1:14550" "--out" "127.0.0.1:14551" "--map" "--console"
+```
+Both “–out” refer to UDP connexion create by MAVProxy. We will use UDP access with mavros.
+
+Get back to your ROS terminal. Let’s create a new directory for our launch file.
+```shell
+mkdir launch
+cd launch
+roscp mavros apm.launch apm.launch
+```
+Edit the launch file with correct **fcu_url**
+```shell
+nano apm.launch
+<arg name="fcu_url" default="udp://127.0.0.1:14551@14555" />
+```
+Launch it with:
+```shell
+roslaunch apm.launch
+```
+## Launch ROS node
+source you setup.bash
+```shell
+source <WORKSPACE_PATH>/devel/setup.bash
+rosrun droneoa_ros droneoa_ros
+```
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